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/** @file

@brief ROS nodelet for converting RangeArray messages to PointCloud2.

*/

#include <ros/ros.h>
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>

#include "range_to_cloud.h"

namespace segbot_sensors
{
  class RangeNodelet: public nodelet::Nodelet
  {
  public:
    RangeNodelet() {}
    ~RangeNodelet() {}

  private:
    boost::shared_ptr<segbot_sensors::RangeToCloud> cnv_;

    virtual void onInit()
    {
      ros::NodeHandle priv_nh(getPrivateNodeHandle());
      ros::NodeHandle node(getNodeHandle());
      cnv_.reset(new segbot_sensors::RangeToCloud(node, priv_nh));
    }

  };
}; // end namespace segbot_sensors

// Register this plugin with pluginlib.  Names must match
// segbot_sensors_plugins.xml.
//
// parameters are: class type, base class type
PLUGINLIB_EXPORT_CLASS(segbot_sensors::RangeNodelet, nodelet::Nodelet)
